zenoh_message_bridge.bridge_node Namespace Reference

Classes
class	ROS2ZenohBridge

Functions
str	_wire_type (str ros_type, str fmt)
def	_serializer (str ros_type, str fmt)
def	_deserializer (msg_type, str fmt)
bytes	_make_gid ()
bytes	_make_attachment (int seq, bytes gid)
str	_type_hash (str ros_type)
str	_mangle (str name)
str	_strip_slash (str name)
str	_dds_type (str ros_type)
str	_qos_to_keyexpr (QoSProfile qos)
str	_topic_keyexpr (int domain_id, str topic, str ros_type, str rmw_target)
str	_topic_sub_keyexpr (int domain_id, str topic, str ros_type)
str	_liveliness_keyexpr (int domain_id, str session_id, int pub_id, str node_name, str topic, str ros_type, QoSProfile qos, str rmw_target)
QoSProfile	_qos_from_mapping (dict mapping, str default_reliability='reliable')
def	main (args=None)

Variables
string	_STR_TYPE = 'std_msgs/msg/String'
string	_RMW_ZENOH_LV_PREFIX = '@ros2_lv'
dictionary	_DURABILITY
dictionary	_RELIABILITY

Function Documentation

_dds_type()

str zenoh_message_bridge.bridge_node._dds_type ( str  ros_type )

private

_deserializer()

def zenoh_message_bridge.bridge_node._deserializer (   msg_type, str  fmt  )

private

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_liveliness_keyexpr()

str zenoh_message_bridge.bridge_node._liveliness_keyexpr ( int  domain_id, str  session_id, int  pub_id, str  node_name, str  topic, str  ros_type, QoSProfile  qos, str  rmw_target  )

private

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_make_attachment()

bytes zenoh_message_bridge.bridge_node._make_attachment ( int  seq, bytes  gid  )

private

rmw_zenoh_cpp attachment format:
  8 bytes - sequence number (int64 LE)
  8 bytes - source timestamp (ns since epoch, int64 LE)
  1 byte  - GID length (always 16)
 16 bytes - publisher GID

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_make_gid()

bytes zenoh_message_bridge.bridge_node._make_gid ( )

private

Generate a 16-byte publisher GID from a random UUID.

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_mangle()

str zenoh_message_bridge.bridge_node._mangle ( str  name )

private

_qos_from_mapping()

QoSProfile zenoh_message_bridge.bridge_node._qos_from_mapping ( dict  mapping, str   default_reliability = 'reliable'  )

private

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_qos_to_keyexpr()

str zenoh_message_bridge.bridge_node._qos_to_keyexpr ( QoSProfile  qos )

private

_serializer()

def zenoh_message_bridge.bridge_node._serializer ( str  ros_type, str  fmt  )

private

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_strip_slash()

str zenoh_message_bridge.bridge_node._strip_slash ( str  name )

private

_topic_keyexpr()

str zenoh_message_bridge.bridge_node._topic_keyexpr ( int  domain_id, str  topic, str  ros_type, str  rmw_target  )

private

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_topic_sub_keyexpr()

str zenoh_message_bridge.bridge_node._topic_sub_keyexpr ( int  domain_id, str  topic, str  ros_type  )

private

Wildcard hash segment to match publishers from any ROS2 distro.

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_type_hash()

str zenoh_message_bridge.bridge_node._type_hash ( str  ros_type )

private

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_wire_type()

str zenoh_message_bridge.bridge_node._wire_type ( str  ros_type, str  fmt  )

private

Transport type: json uses raw bytes (no fixed type), cdr_json wraps in std_msgs/msg/String.

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main()

def zenoh_message_bridge.bridge_node.main

(

args = None

)

Variable Documentation

_DURABILITY

dictionary zenoh_message_bridge.bridge_node._DURABILITY

private

Initial value:

=  {
    'volatile':        DurabilityPolicy.VOLATILE,
    'transient_local': DurabilityPolicy.TRANSIENT_LOCAL,
}

_RELIABILITY

dictionary zenoh_message_bridge.bridge_node._RELIABILITY

private

Initial value:

=  {
    'best_effort': ReliabilityPolicy.BEST_EFFORT,
    'reliable':    ReliabilityPolicy.RELIABLE,
}

_RMW_ZENOH_LV_PREFIX

string zenoh_message_bridge.bridge_node._RMW_ZENOH_LV_PREFIX = '@ros2_lv'

private

_STR_TYPE

string zenoh_message_bridge.bridge_node._STR_TYPE = 'std_msgs/msg/String'

private